CN110732531A - Offline programming method for robot laser cleaning equipment - Google Patents

Offline programming method for robot laser cleaning equipment Download PDF

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Publication number
CN110732531A
CN110732531A CN201911231143.2A CN201911231143A CN110732531A CN 110732531 A CN110732531 A CN 110732531A CN 201911231143 A CN201911231143 A CN 201911231143A CN 110732531 A CN110732531 A CN 110732531A
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China
Prior art keywords
cleaning
robot
path
programming method
laser cleaning
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CN201911231143.2A
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Chinese (zh)
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CN110732531B (en
Inventor
武艳美
赵全忠
高雪松
付强
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Nanjing Institute of Advanced Laser Technology
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Nanjing Institute of Advanced Laser Technology
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Priority to CN201911231143.2A priority Critical patent/CN110732531B/en
Publication of CN110732531A publication Critical patent/CN110732531A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/0035Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
    • B08B7/0042Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Abstract

The invention discloses an off-line programming method of robot laser cleaning equipment, which plans the movement tracks of a robot and a cleaning processing head by using the off-line programming method after acquiring a three-dimensional model of a workpiece to be cleaned, and realizes the high-efficiency automatic cleaning of the three-dimensional workpiece.

Description

Offline programming method for robot laser cleaning equipment
Technical Field
The invention relates to a laser cleaning technology, in particular to an off-line programming method for robot laser cleaning equipment.
Background
Laser cleaning is used as novel cleaning technologies, is efficient and green cleaning technologies, and compared with chemical and mechanical cleaning technologies, laser cleaning has the characteristics of non-contact, no pollution (environment), no damage (matrix), no thermal effect, application range and the like.
The laser cleaning equipment mainly comprises a handheld type laser cleaning head and a mechanical automatic type laser cleaning head, and is mainly characterized in that a controller of the laser cleaning head is manually controlled or mechanically controlled, the handheld type laser cleaning head is flexible in operation, but the manual operation of the handheld type laser cleaning head is difficult to guarantee accurate batch operation, the mechanical cleaning equipment can control the equipment to finish accurate batch cleaning operation according to a preset track, when an irregular workpiece is faced, manual teaching is time-consuming and labor-consuming, the motion track of the machining head cannot be changed in real time, accurate machining is achieved, or the cleaning equipment comprises a robot and a three-dimensional model of the cleaning machining head, the robot and the three-dimensional model are used as integral models and are programmed, and since the cleaning machining head is a two-dimensional motion head, compared with a common -dimensional machining head, the development difficulty is high, how to quickly and accurately plan a correct motion track, and problems to be solved urgently.
Disclosure of Invention
The invention aims to solve the problems and provides an off-line programming method for robot laser cleaning equipment to plan and generate an irregular workpiece cleaning path.
Technical scheme to achieve the purpose of the invention, the technical scheme adopted by the invention is that an off-line programming method for kinds of robot laser cleaning equipment comprises the following steps:
(1) introducing a three-dimensional model of a workpiece, selecting a region to be cleaned, and independently forming the cleaning region into groups of geometric planes or curved surfaces;
(2) identifying a processing surface, setting a segmentation interval, segmenting the processing surface, unfolding the segmented processing surface into a plane, and extracting contour data;
(3) filling the processing surface, planning the track of the filling path to obtain a cleaning path of the processing surface, and outputting the contour data as a vector file according to the path sequence;
(4) simulating the operation process of the robot system by using a graphic simulation technology, and displaying the motion state of the robot;
(5) adding an IO control statement behind each cleaning path, controlling the cleaning head to change the motion track, and generating a cleaning program;
(6) and the cleaning program is converted into a control program and data of the target robot, the control program and the data are downloaded to a robot system, the robot is driven to move according to a preset track, and the contour vector files are led into a cleaning processing head memory bank in sequence.
, the step (2) specifically comprises:
(2.1) reading a list of geometric surfaces to be processed, and judging the type of the geometric surfaces;
(2.2) setting a segmentation interval and a segmentation angle, and segmenting the geometric surface into a plurality of parts;
(2.3) unfolding the divided geometric surface into a plane;
and (2.4) extracting the expanded plane contour data.
, the separation distance is not larger than the processing range of the cleaning head.
, the geometric surface includes rectangular surface, circular surface, cylindrical surface, irregular polygonal surface, irregular plane, irregular curved surface.
, the step (3) specifically comprises:
(3.1) filling the machined surface in a linear mode, wherein the segmentation pitch value is used as a filling pitch;
(3.2) planning the track according to the filling line to generate a robot motion path program;
and (3.3) outputting the divided contour data according to the path sequence.
Further , the fill line takes the centerline of the segmented contour at the segmentation angle.
, the cleaning head is maintained at a 90 angle to the workpiece surface during the cleaning process.
, the step (5) specifically comprises:
(5.1) adding IO control statements under each cleaning path;
and (5.2) setting a robot base coordinate system and a tool coordinate system according to actual conditions, and converting the motion program into a robot instruction program.
The off-line programming method of the robot laser cleaning equipment has the advantages that the cleaning area is independent into groups of geometric planes or curved surfaces, the machined surface is divided and filled according to the set distance, the path is planned, meanwhile, the dividing outline is output according to the path sequence, the dividing outline guides the motion track of the cleaning machining head while the path controls the motion of the robot, and the two are cooperatively controlled in an IO mode to realize off-line programming of the laser cleaning equipment.
Drawings
Fig. 1 is a schematic view of a split fill.
Detailed Description
The technical solution of the present invention is further illustrated in step with reference to the accompanying drawings and examples.
In order to implement the off-line programming of the robot laser cleaning device, the invention provides off-line programming methods of the robot laser cleaning device, as shown in fig. 1, comprising the steps of:
(1) introducing a three-dimensional model of a workpiece, selecting a region to be cleaned, and independently forming the cleaning region into groups of geometric planes or curved surfaces;
after the workpiece model is imported, the system analyzes the geometric surface of the workpiece model, and judges whether the geometric surface is added into the list of the geometric surfaces to be processed or not according to the mouse action of the user.
(2) Identifying a processing surface and setting a dividing interval; dividing the processing surface into planes, and extracting contour data, wherein the dividing interval is not more than the processing range of the cleaning head; the detailed steps are as follows:
(2.1) reading a list of geometric surfaces to be processed, and judging the type of the geometric surfaces;
according to the characteristics of the cleaning workpiece, the geometric surface is divided into a rectangular surface, a circular surface, a cylindrical surface, an irregular polygonal surface, an irregular plane and an irregular curved surface, and the system carries out the simplified algorithm of the conventional geometric surface customized segmentation and path planning except the irregular plane and the irregular curved surface, so that the repetitive labor can be greatly reduced.
(2.2) setting a segmentation interval and a segmentation angle, segmenting the geometric surface into a plurality of parts, wherein the segmentation angle is obtained by calculating the included angle between the long side of the rectangle with the minimum width of the closed geometric surface and the horizontal axis;
(2.3) unfolding the divided geometric surface into a plane, wherein the unfolding of the dividing line is also included;
(2.4) extracting the expanded plane contour data, wherein the contour data refers to a closed contour consisting of a dividing line and a peripheral contour, and as shown in FIG. 1, a broken line represents the dividing line.
(3) Filling the machined surface according to the preset segmentation interval, planning the track of the filling path to obtain a cleaning path of the machined surface, and outputting the contour data into a vector file according to the path sequence; the detailed steps are as follows:
(3.1) filling the processing surface, wherein a linear filling mode is adopted, and the division pitch value is used as a filling pitch; the filling line adopts the central line of the segmentation contour under the segmentation angle;
(3.2) planning the track according to the filling line to generate a robot motion path program; meanwhile, according to the requirements of a laser cleaning process, a cleaning head is required to keep an included angle of 90 degrees with the surface of a workpiece in the cleaning process;
and (3.3) outputting the divided contour data according to the path sequence.
(4) Simulating the operation process of the robot system by using a graphic simulation technology, and visually displaying the motion state of the robot, thereby verifying the effect of off-line programming;
(5) adding an IO control statement behind each cleaning path for controlling the cleaning head to change the motion track and finally generating a cleaning program; the detailed steps are as follows:
(5.1) adding IO control statements under each cleaning path;
it should be noted that the cleaning path matches the surface fill line, and for curved surfaces, cleaning paths may correspond to multiple rows of robot operating programs, depending on the sequence of the current cleaning path in the cleaning path of the processing surface, the IO output value is controlled, and if the current cleaning path is the th cleaning path of the current processing surface, the IO output value is 1, and so on.
And (5.2) setting a robot base coordinate system and a tool coordinate system according to actual conditions, converting the motion program into a robot instruction program, and finally obtaining the robot program.
(6) The cleaning program is converted into a control program and data of a target robot, the control program and the data are downloaded to a robot system, the robot is driven to move according to a preset track, and the contour vector files are led into a memory bank of the cleaning processing head in sequence, so that the cleaning processing head is driven to select the contour of the memory bank to move according to the IO value, and cooperative control of the robot and the cleaning head is achieved.

Claims (8)

  1. The off-line programming method for the robot laser cleaning equipment is characterized by comprising the following steps of:
    (1) introducing a three-dimensional model of a workpiece, selecting a region to be cleaned, and independently forming the cleaning region into groups of geometric planes or curved surfaces;
    (2) identifying a processing surface, setting a segmentation interval, segmenting the processing surface, unfolding the segmented processing surface into a plane, and extracting contour data;
    (3) filling the processing surface, planning the track of the filling path to obtain a cleaning path of the processing surface, and outputting the contour data as a vector file according to the path sequence;
    (4) simulating the operation process of the robot system by using a graphic simulation technology, and displaying the motion state of the robot;
    (5) adding an IO control statement behind each cleaning path, controlling the cleaning head to change the motion track, and generating a cleaning program;
    (6) and the cleaning program is converted into a control program and data of the target robot, the control program and the data are downloaded to a robot system, the robot is driven to move according to a preset track, and the contour vector files are led into a cleaning processing head memory bank in sequence.
  2. 2. The off-line programming method for the robotic laser cleaning device according to claim 1, wherein the step (2) specifically comprises:
    (2.1) reading a list of geometric surfaces to be processed, and judging the type of the geometric surfaces;
    (2.2) setting a segmentation interval and a segmentation angle, and segmenting the geometric surface into a plurality of parts;
    (2.3) unfolding the divided geometric surface into a plane;
    and (2.4) extracting the expanded plane contour data.
  3. 3. A robotic laser cleaning device off-line programming method as claimed in claim 2 wherein the separation pitch is no greater than the processing range of the cleaning head.
  4. 4. The off-line programming method for robotic laser cleaning devices of claim 2, wherein the geometric surfaces include rectangular surfaces, circular surfaces, cylindrical surfaces, irregular polygonal surfaces, irregular flat surfaces, irregular curved surfaces.
  5. 5. The off-line programming method for the robotic laser cleaning device according to claim 1, wherein the step (3) specifically comprises:
    (3.1) filling the machined surface in a linear mode, wherein the segmentation pitch value is used as a filling pitch;
    (3.2) planning the track according to the filling line to generate a robot motion path program;
    and (3.3) outputting the divided contour data according to the path sequence.
  6. 6. A robotic laser cleaning device off-line programming method as claimed in claim 5 wherein the fill line uses the centre line of the segmentation profile at the segmentation angle.
  7. 7. A method for off-line programming of robotic laser cleaning devices as claimed in claim 5 wherein the cleaning head is maintained at a 90 ° angle to the workpiece surface during the cleaning process.
  8. 8. The off-line programming method for a robotic laser cleaning device according to claim 1, wherein the step (5) specifically comprises:
    (5.1) adding IO control statements under each cleaning path;
    and (5.2) setting a robot base coordinate system and a tool coordinate system according to actual conditions, and converting the motion program into a robot instruction program.
CN201911231143.2A 2019-12-05 2019-12-05 Off-line programming method for robot laser cleaning equipment Active CN110732531B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021217992A1 (en) * 2020-04-28 2021-11-04 株洲国创轨道科技有限公司 Multi-laser-head intelligent laser cleaning method and device

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CN106955831A (en) * 2017-04-11 2017-07-18 华瑞(江苏)燃机服务有限公司 A kind of complex-curved spraying method of robot to combustion engine part
CN108687056A (en) * 2017-04-05 2018-10-23 大族激光科技产业集团股份有限公司 A kind of laser cleaning device and method
US20180354252A1 (en) * 2017-06-07 2018-12-13 Teg Technologies Research And Development, S.L. Anilox roller cleaning machine by laser and procedure for auto-adjusting the laser focal point to the diameter of the anilox roller
CN109048068A (en) * 2018-09-20 2018-12-21 孟凡森 A kind of laser cleaning equipment easy to remove
CN109976259A (en) * 2019-03-19 2019-07-05 南京工程学院 A kind of robot free curve surface work pieces polishing off-line programing method based on VTK
CN110239245A (en) * 2019-07-30 2019-09-17 黄瑞湖 A kind of irregular three-D curved surface color printing method based on Internet of Things

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108687056A (en) * 2017-04-05 2018-10-23 大族激光科技产业集团股份有限公司 A kind of laser cleaning device and method
CN106955831A (en) * 2017-04-11 2017-07-18 华瑞(江苏)燃机服务有限公司 A kind of complex-curved spraying method of robot to combustion engine part
US20180354252A1 (en) * 2017-06-07 2018-12-13 Teg Technologies Research And Development, S.L. Anilox roller cleaning machine by laser and procedure for auto-adjusting the laser focal point to the diameter of the anilox roller
CN109048068A (en) * 2018-09-20 2018-12-21 孟凡森 A kind of laser cleaning equipment easy to remove
CN109976259A (en) * 2019-03-19 2019-07-05 南京工程学院 A kind of robot free curve surface work pieces polishing off-line programing method based on VTK
CN110239245A (en) * 2019-07-30 2019-09-17 黄瑞湖 A kind of irregular three-D curved surface color printing method based on Internet of Things

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021217992A1 (en) * 2020-04-28 2021-11-04 株洲国创轨道科技有限公司 Multi-laser-head intelligent laser cleaning method and device

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